# Copyright (c) 2022 PaddlePaddle Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#    http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from nuscenes import NuScenes

from paddle3d.utils.logger import logger


class NuScenesManager:
    _instance_map = {}

    @classmethod
    def get(cls, version: str, dataroot: str) -> NuScenes:
        key = "{}+{}".format(version, dataroot)

        if key not in cls._instance_map:
            with logger.processing(
                    'Loading nuscenes metadata, this may take a few minutes'):
                nusc = NuScenes(
                    version=version, dataroot=dataroot, verbose=False)
                cls._instance_map[key] = nusc
        return cls._instance_map[key]
